CN111252071B - Method for operating a vehicle - Google Patents

Method for operating a vehicle Download PDF

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Publication number
CN111252071B
CN111252071B CN201911220570.0A CN201911220570A CN111252071B CN 111252071 B CN111252071 B CN 111252071B CN 201911220570 A CN201911220570 A CN 201911220570A CN 111252071 B CN111252071 B CN 111252071B
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China
Prior art keywords
map
road
vehicle
sensor
positioning
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Active
Application number
CN201911220570.0A
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Chinese (zh)
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CN111252071A (en
Inventor
C·哈斯贝格
P·拉斯普
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Robert Bosch GmbH
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Robert Bosch GmbH
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00184—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Abstract

The invention relates to a method (10) for operating a vehicle (19), comprising the following method steps: a planning map (11) and a positioning map (12) are provided, and a vehicle (19) is positioned on the positioning map (12). Map roads (15) recorded in the planning map (11) are selected based on the positioning. A sensor road (16) is determined by means of sensor devices (13, 17) of a vehicle (19). A map road (15) is compared with a sensor road (16). A determination is made as to whether the map road (15) and the sensor road (16) are identical by means of a threshold value determined for the deviation between the map road (15) and the sensor road (16). The vehicle (19) is operated using the map road (15) if the map road (15) and the sensor road (16) are identical. The vehicle (19) is operated using the sensor road (16) if the map road (15) and the sensor road (16) are not identical.

Description

Method for operating a vehicle
Technical Field
The invention relates to a method for operating a vehicle.
Background
Vehicles with automatic driving functions must be positioned as precisely as possible. This is premised on error-free map data. However, the actual situation may change after creating the map. For example, lane markings may change, guard rails may shift, streets and bridges may be removed or built and signs may be set up. For this reason, methods for verifying a map are required, which can ensure real-time performance of the map.
A method for generating a surroundings map for locating a vehicle in its surroundings is known from publication DE 10 2016 212 774 A1.
Disclosure of Invention
The object of the present invention is to provide a method for operating a vehicle. This object is achieved by the method according to the invention for operating a vehicle. In the respective development, advantageous embodiments are described.
A method for operating a vehicle comprises the following method steps: a planning map and a positioning map are provided. Positioning the vehicle on a positioning map. Map roads recorded in the planning map are selected based on the positioning. The sensor device of the vehicle is used to determine the sensor path. The map roads are compared to the sensor roads. Determining by means of a threshold value determined for a deviation between a map road and a sensor road: whether the map road and the sensor road are identical. If the map road and the sensor road are the same, the vehicle is operated using the map road. If the map road and the sensor road are different, the vehicle is operated using the sensor road. Verification of map roads by comparison with sensor roads is advantageously performed by the method. If the planning map is not in the most updated state, the vehicle is operated by using the sensor road. Calibration of the planning map and/or the positioning map is not required. By verifying map roads, the method may facilitate security in road traffic.
In an embodiment, the localization of the vehicle comprises identifying at least one first feature contained in a localization map in the surroundings of the vehicle. Finding the sensor road includes identifying a second feature in the surrounding environment of the vehicle. The first feature and the second feature are different classes of features. Since the first feature and the second feature belong to different categories, the map road and the sensor road are decoupled from each other. This enables advantageously reliable verification of map roads.
In a further embodiment, the lane markings are identified as second features. The lane markings are advantageously suitable for determining sensor roads. Instead of lane markings, guard rails or curb edges can also be identified.
In one embodiment, the lane markings are detected by means of a camera and/or by means of a lidar sensor device of the vehicle. The lane markings can advantageously be detected simply by means of a camera and/or by means of a lidar sensor device. Here, the intensity difference between the marked and unmarked areas can be measured.
In a further embodiment, a radar or lidar or camera positioning map is used as the positioning map.
Drawings
The above features, features and advantages of the present invention and the manner of attaining them will become more apparent and the invention will be better understood by reference to the following detailed description of embodiments taken in conjunction with the accompanying drawings. Here, in the respective schematic diagrams:
FIG. 1 is a method step of a method for operating a vehicle;
FIG. 2 is a schematic diagram of the process; and
fig. 3 illustrates an exemplary scenario when implementing the method.
Detailed Description
Fig. 1 schematically shows method steps 1, 2, 3, 4, 5, 6 of a method 10 for operating a vehicle.
The vehicle may be any motor vehicle. The vehicle may also be configured as an automated vehicle. The automated vehicle may be controlled by means of an automatic driving function.
In a first method step 1, a planning map and a positioning map are provided. Information about road and lane markings is recorded in the planning map. The lane markings may be present in the planning map, for example in the form of a multi-segment line. Lane markings divide a road into lanes. These roads and lanes may be traversed by vehicles.
Information about sensor-specific features in the surroundings illustrated by the map of the location is recorded in the location map. These sensor-specific features can be detected by means of the sensor device of the vehicle. The pose of the vehicle, i.e. the position and orientation of the vehicle, may be determined with respect to at least one feature recorded in the localization map. This enables positioning of the vehicle on the positioning map.
The positioning map may be configured, for example, as a camera positioning map. Features that can be recognized by the camera of the vehicle are recorded in the camera positioning map. The positioning map may alternatively be configured as a lidar positioning map. The lidar localization map contains features that can be identified by means of a lidar sensor device of the vehicle. The locating map may alternatively be configured as a radar locating map in which features that can be detected by means of a radar sensor device of the vehicle are recorded.
In a second method step 2, the vehicle is positioned on a positioning map. Here, the posture of the vehicle is obtained with respect to the positioning map. The localization of the vehicle is achieved by detecting at least one first feature in the surroundings of the vehicle, which is contained in the localization map, by means of the sensor device. The sensor device may be configured as a radar sensor device, a lidar sensor device or a camera.
In a third method step 3, the road described in the planning map is selected on the basis of the positioning of the vehicle. Thus, the corresponding road to be driven by the vehicle in the planning map is found from all the roads included in the planning map based on the found pose of the vehicle with respect to the positioning map. The road thus obtained shall be referred to as a map road.
In a fourth method step 4, a sensor lane is determined by means of the sensor device or by means of a further sensor device of the vehicle. A sensor track shall mean a track which is arranged within the sensing range of the sensor device or of the further sensor device when the vehicle is in operation and which can be detected by means of the sensor device or the further sensor device of the vehicle. Therefore, the sensor road is obtained independently of the map data. For determining the sensor path, either a radar sensor device, a lidar sensor device or a camera may be used. If in the second method step 2, for example, a radar sensor device is used to locate the vehicle, in a fourth method step 4, for example, a laser radar sensor device can be used to determine the sensor path. However, it is also possible, for example: in a second method step 2 and in a fourth method step 4, a lidar positioning device is used.
Solving for the sensor road may include identifying a second feature in the vehicle surroundings. The first features identified for locating the vehicle in the context of the second method step 2 and the second features identified for ascertaining the sensor path may be different classes of features. For determining the sensor path, for example, a lane marking can be identified as a second feature. In this case no lane markings are identified for locating the vehicle. Thus, the positioning of the vehicle and the determination of the sensor road are decoupled from one another in that the first and the second feature belong to different classes.
Other features besides lane markings may also be identified to determine the sensor path. For example, guard rails and curb edges can be used in order to determine the sensor path. Other features, such as trees and other green belts, may also be identified. The only requirement is that the first feature can be detected by means of a sensor device of the vehicle. The kerb edge is suitable for determining sensor paths, for example, in particular in the urban environment of a vehicle. In contrast to the lane markings, the guard rail and the curb edges can also be detected by means of the radar sensor system of the vehicle. In the case of lane markings, however, it is suitable to use a camera and/or a lidar sensor device, since in this case the intensity situations between the marked and unmarked areas of the road can be determined, which can be distinguished from one another.
In a fifth method step 5, the map road is compared with the sensor road. In this case, the determination of the threshold value for the deviation between the map road and the sensor road can be performed, for example: whether the map road and the sensor road 7 are identical. For example, the distance between the map road and the sensor road may be found within a specific distance from the vehicle. A threshold value may be determined for each distance, which threshold value describes the maximum distance between the map road and the sensor road, within which the map road and the sensor road should be considered to be identical. If the distance is less than the threshold, the map road and the sensor road are evaluated as the same. If the distance is greater than the threshold, the map road and the sensor road are evaluated as not identical. For example, it is also possible to average the distances and to determine a threshold value for the average value in order to determine: whether the map road and the sensor road are the same. Alternatively or additionally, the map road curvature may be compared to the sensor road curvature in order to identify a significant deviation between the map road and the sensor road.
In a sixth method step 6, the vehicle is operated using the map road if the map road and the sensor road are identical. In this case, the vehicle can be controlled along the map road by means of the automatic travel function. If the map road and the sensor road are not identical, the sensor road is used to run the vehicle. The vehicle is thus controlled along the sensor road in this case. Thus, either release of the map road or blocking of the map road is performed.
Fig. 2 shows a schematic diagram of the method 10.
After the planning map 11 and the positioning map 12 are provided, the vehicle is positioned on the positioning map 12 by means of the sensor device 13. Here, the posture 14 of the vehicle is determined with respect to the positioning map 12. Map roads 15 are selected from planning map 11 based on the location of the vehicle.
The sensor path 16 is determined by means of a further sensor device 17. The map road 15 and the sensor road 16 are then provided with a comparison device 18 of the vehicle. The comparing means 18 compare the map road 15 with the sensor road 16. If the map road 15 and the sensor road 16 are identical, the release of the map road 15 is performed. If the map road 15 and the sensor road 16 are not identical, the map road 16 is not released, but is blocked to run the vehicle.
Fig. 3 schematically illustrates an exemplary scenario when implementing method 10.
Fig. 3 shows a map road 15 and its lane markings 21. Map roads 15 are selected from the planning map based on the positioning of vehicle 19 on the positioning map. The vehicle 19 is located on the map road 15. Fig. 3 also shows, by way of example, the sensing range 20 of one or more sensor devices 13, 17 of the vehicle 19. Thus, for example, the lane markings 23 can be identified in order to determine the sensor road 16. The sensor road 16 is shown in fig. 3 by way of a lane marking 23 indicated by a dotted line.
In the example shown in fig. 3, a comparison of the map road 15 with the sensor road 16 shows that the map road and the sensor road are different. The sensor road 16 is used in this case for running the vehicle, which is indicated in fig. 3 by means of a track 22, which follows one lane of the sensor road 16, along which the vehicle 19 is controlled.

Claims (5)

1. A method (10) for operating a vehicle (19), having the following method steps:
providing a planning map (11) and a positioning map (12),
positioning the vehicle (19) on the positioning map (12),
-selecting map roads (15) recorded in the planning map (11) based on the positioning,
determining a sensor path (16) by means of sensor devices (13, 17) of the vehicle (19),
comparing the map road (15) with the sensor road (16),
wherein a threshold decision is made by means of a threshold value determined for a deviation between the map road (15) and the sensor road (16): whether the map road (15) and the sensor road (16) are identical,
-if the map road (15) and the sensor road (16) are the same, using the map road (15) to run the vehicle (19); and if the map road (15) and the sensor road (16) are not identical, the sensor road (16) is used to run the vehicle (19),
wherein locating the vehicle (19) comprises identifying at least one first feature contained in the location map (12) in the surroundings of the vehicle (19), wherein determining the sensor road (16) comprises identifying a second feature in the surroundings of the vehicle (19), wherein the first feature and the second feature are different classes of features.
2. The method (10) according to claim 1, wherein the lane markings (23) are identified as second features.
3. Method (10) according to claim 2, characterized in that the lane markings (23) are identified by means of a camera and/or by means of a lidar sensor device of the vehicle (19).
4. A method (10) according to any one of claims 1 to 3, wherein a radar positioning map or a camera positioning map is used as the positioning map (12).
5. A method (10) according to any one of claims 1 to 3, wherein a lidar localization map is used as the localization map (12).
CN201911220570.0A 2018-12-03 2019-12-03 Method for operating a vehicle Active CN111252071B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018220799.2 2018-12-03
DE102018220799.2A DE102018220799A1 (en) 2018-12-03 2018-12-03 Method for operating a vehicle

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CN111252071A CN111252071A (en) 2020-06-09
CN111252071B true CN111252071B (en) 2024-03-22

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DE (1) DE102018220799A1 (en)

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DE102020211363A1 (en) 2020-09-10 2022-03-10 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for creating, providing and using an overall map
FR3120692B1 (en) * 2021-03-15 2023-02-10 Psa Automobiles Sa Method and device for determining the reliability of a base definition map.

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CN111252071A (en) 2020-06-09
DE102018220799A1 (en) 2020-06-04
US11415987B2 (en) 2022-08-16

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